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Changed some formatting and added sonar distance to auto

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This commit is contained in:
Adam Long 2014-10-11 21:51:52 -04:00
parent a7f201d1f3
commit 265e3d1ac9
1 changed files with 15 additions and 11 deletions
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26
src/HHRobot.cpp
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@ -39,15 +39,19 @@ void HHRobot::UpdateDashboard(){
dashboard->PutFloatValue("Shooting Power", ControlSystem->throttle);
}
void HHRobot::RunAuto(){
int step, time;
if(step == 0 && time < 200){
compressorSystem->ExtendCollector();
collector->CollectBallAtSpeed(50);
}
else{
step = 1;
}
time++;
int step, time;
compressorSystem->ExtendCollector();
//TODO I have no idea what rate this loop runs at so we are going to have to fine tune the times
//Drive for 51 inches/cm/units (or time)
if(step == 0 && time < 200){
if(sonar->GetInches("FRONTLEFT") >= 51){
DriveRobot(0,-.5);
}else{
DriveRobot(0,0);
}
}else{
step = 1;
}
}
//Main function used to handle periodic tasks on the robot
@ -58,7 +62,7 @@ void HHRobot::Handler(){
ControlSystem->UpdateJoysticks();
shooter->UpdateShooterPosition(targetAngle);
//TODO Need to implement a timing system to not break the spike (this function doesn't run the compressor at the moment)
compressorSystem->CompressorSystemPeriodic(alowCompressing);
compressorSystem->CompressorSystemPeriodic(allowCompressing);
collector->UpdateCollector(shooter->isShooting, shooter->GetAngle());
if(CheckJoystickValues()) {
DriveRobot(ControlSystem->rightJoystickAxisValues[3]+ControlSystem->rightJoystickAxisValues[1], -ControlSystem->rightJoystickAxisValues[2]);
@ -96,6 +100,7 @@ void HHRobot::Handler(){
allowCompressing = false;
}else{
allowCompressing = true;
}
if(ControlSystem->rightJoystickValues[DRIVE_FOR_DISTANCE]){
targetAngle = 100;
if(sonar->GetInches("FRONTLEFT") >= 45){
@ -103,7 +108,6 @@ void HHRobot::Handler(){
}
else{
DriveRobot(0,0);
shooter->StartShootingSequence(0.855);
}
}
}